Honda Motor Co., Ltd.

Daichi Inoue

Sho Tamura

Takao Tamura

Yoshihiro Mori

A vehicle control device according to an embodiment includes a first recognizer that recognizes a surrounding situation including a first partition line partitioning a traveling lane, a second recognizer that recognizes a second partition line partitioning a lane around from map information; and a driving controller that executes driving control, wherein the driving controller executes the driving control based on the first partition line in a case in which the first partition line does not match the second partition line, a preceding vehicle traveling in front of a vehicle is recognized, and an amount of change in a distance between the first partition line and a traveling trajectory of the preceding vehicle is smaller than a threshold value, when the vehicle travels in a lane change section, and curbs the driving control in a case in which the amount of change is equal to or larger than the threshold value.

Vehicle control device, vehicle control method, and storage medium

A vehicle control device includes a storage medium storing computer-readable instructions and a processor connected to the storage medium. The processor executes the computer-readable instructions to recognize a surrounding situation of a vehicle using at least a camera, decide on a driving mode of the vehicle as one of a first driving mode and a second driving mode on the basis of the surrounding situation and map information and change the driving mode from the second driving mode to the first driving mode when it is determined that information of a stationary target group detected by a space detection sensor mounted in the vehicle matches information of a free space detected on the basis of an image captured by the camera, a camera road marking matches the information of the free space, and there is interference between the information of the stationary target group and the map road marking in a case where it is determined that the camera road marking does not match the map road marking while the vehicle is traveling in the second driving mode.

A vehicle control device acquires a camera image obtained by capturing an image of surrounding circumstances of a vehicle, controls steering and acceleration/deceleration of the vehicle without depending on an operation of a driver of the vehicle on the basis of the camera image and map information, determines any of a plurality of driving modes including a first driving mode and a second driving mode as a driving mode of the vehicle, judges whether or not a preceding vehicle is present in front of the vehicle when it is judged that an abnormality has occurred, calculates, when it is judged that the preceding vehicle is present, a margin for the vehicle to continue traveling in the second driving mode, and causes the vehicle to continue traveling in the second driving mode for a period of time indicated based on the margin.

A vehicle control device is configured to acquire a camera image obtained by capturing an image, control steering and acceleration or deceleration of the vehicle without depending on an operation of a driver of the vehicle on the basis of the camera image and map information, decide a driving mode of the vehicle as any one of a plurality of driving modes including a first driving mode and a second driving mode, change the driving mode of the vehicle to a driving mode with a heavier task when a task related to the decided driving mode is not executed by the driver, determine whether there is a deviation between a road division line shown in the camera image and a road division line shown in the map information, determine whether a preceding vehicle is present in front of the vehicle when it is determined that there is a deviation.

Provided is a vehicle control device including: a storage device storing a program; and a hardware processor executing the program stored in the storage device to: recognize a surrounding situation of a vehicle; determine whether or not the surrounding situation includes a road division line; control steering and acceleration/deceleration of the vehicle; determine a driving mode of the vehicle as any one of a plurality of driving modes including a first driving mode and a second driving mode; and set, when the vehicle is traveling in the second driving mode, the surrounding situation is determined not to include a road division line, and a preceding vehicle is recognized within a first predetermined distance in a traveling direction of the vehicle, a longer traveling continuation distance in the second driving mode using the map information.

Display method and system

A vehicle control device recognizes a surrounding situation of a vehicle, controls steering and acceleration/deceleration of the vehicle without depending on an operation of a driver, determines any one of a plurality of driving modes including a first driving mode and a second driving mode as a driving mode of the vehicle, changes the driving mode of the vehicle to a driving mode in which the task is heavier when a task is not executed by the driver, determines whether there is an error in the map information and determines whether there is a recognition error, and when an error is determined in the map information, there is a recognition error while the vehicle is traveling in the second driving mode, and a preceding vehicle is recognized within a first predetermined distance, sets a travel continuation distance in the second driving mode to be longer.

A vehicle control device recognizes surrounding circumstances of a vehicle, controls steering and acceleration/deceleration of the vehicle without depending on an operation of a driver of the vehicle, determines any one of a plurality of driving modes including a first driving mode and a second driving mode as a driving mode of the vehicle, changes the driving mode of the vehicle to a driving mode in which the task is heavier when a task associated with the determined driving mode is not executed by the driver, determines whether or not the map information includes an error and determines whether or not a road division line is included in the surrounding circumstances, and sets a longer traveling continuation distance in the second driving mode in a case where it is determined that the map information includes an error, the road division line is not included in the surrounding circumstances, and a preceding vehicle has been recognized.

According to an embodiment, a vehicle control device includes a first recognizer configured to recognize a first road marking for partitioning a traveling lane of a vehicle on the basis of an output of a detection device that has detected a surrounding situation of the vehicle, a second recognizer configured to recognize a second road marking for partitioning the traveling lane with a means different from the first recognizer, a comparator configured to compare the first road marking with the second road marking, and a determiner configured to perform any one of a plurality of misrecognition determination processes including a process of determining that there is misrecognition in the first recognizer and a process of determining that there is misrecognition in one or both of the first recognizer and the second recognizer when there is a difference between the first road marking and the second road marking.

A vehicle control device recognizes a surrounding situation of a vehicle, controls steering and acceleration or deceleration of the vehicle without depending on an operation of a driver of the vehicle based on the surrounding situation and map information, determines a driving mode of the vehicle to be one of a plurality of driving modes including a first driving mode and a second driving mode, determines whether there is an error in the map information based on the surrounding situation and the map information, and in a case where an error is determined in the map information while the vehicle is driving in the second driving mode, continues the second driving mode when a preceding vehicle is recognized within a first predetermined distance, or changes the second driving mode to the first driving mode when a preceding vehicle is not recognized within the first predetermined distance.

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Wako, Japan

Daichi Inoue